Force-sense-imparting operation device

Patent metadata

Field	Value
Publication number	US-10386883-B2
Application number	US-201414916030-A
Country	US
Kind code	B2
Filing date	Aug 25, 2014
Priority date	Sep 6, 2013
Publication date	Aug 20, 2019
Grant date	Aug 20, 2019

Abstract

A force-sense-imparting operation device including a stationary section, a rotating section, and an operation member. One of the stationary section and the rotating section includes an excitation coil and a first magnetic pole section, and the other includes a second magnetic pole section capable of opposition to the first magnetic pole section in a specific opposing direction. The first magnetic pole section forms a magnetic circuit with the first magnetic pole section due to the second magnetic pole section being excited in a state that the second magnetic pole section opposes the first magnetic pole section. The magnetic circuit encircles a periphery of the excitation coil on the cross section, the second magnetic pole section being arranged to separate from the first magnetic pole section with rotation of the rotating section.

First claim

The invention claimed is:

1. A force-sense-imparting operation device which creates a force sense using torque generated by a magnetic force, the force-sense-imparting operation device comprising:
a stationary section;
a rotating section which is rotatable with respect to the stationary section; and
an operation member for rotationally operating the rotating section, wherein
only one of the stationary section and the rotating section has an excitation coil and at least one first magnetic pole section at which magnetic flux lines concentrate when the first magnetic pole section is excited by the excitation coil,
the other of the stationary section and the rotating section has at least one second magnetic pole section which is capable of opposition to the first magnetic pole section in a specific opposing direction,
the excitation coil has an opposing site which opposes the second magnetic pole section,
the first magnetic pole section has a shape which encircles the excitation coil with the exception of the opposing site in a cross section perpendicular to a direction of flow of an excitation current in the excitation coil, and
the second magnetic pole section has a shape which forms clearances in the opposing direction between the second magnetic pole section and each of the excitation coil and the first magnetic pole section when the second magnetic pole section opposes the first magnetic pole section and which forms a magnetic circuit in cooperation with the first magnetic pole section due to both the first magnetic pole section and the second magnetic pole section being excited by the excitation coil in a state where the second magnetic pole section opposes the first magnetic pole section, the magnetic circuit encircling a periphery of the excitation coil on the cross section, the second magnetic pole section being arranged so as to separate from the first magnetic pole section with rotation of the rotating section.

2. The force-sense-imparting operation device according to claim 1 , wherein
the excitation coil and the first magnetic pole section are provided at the stationary section, and
the second magnetic pole section is provided at the rotating section.

3. The force-sense-imparting operation device according to claim 1 , wherein
the at least one first magnetic pole section includes a plurality of first magnetic pole sections which are provided at a plurality of positions arranged at intervals in a rotational direction of the rotating section,
the at least one second magnetic pole section includes a plurality of second magnetic pole sections which are provided at the same number of positions as the first magnetic pole sections arranged at intervals in the rotational direction, and
each interval between the second magnetic pole sections mutually adjacent in the rotational direction is set so that, when one of the second magnetic pole sections opposes the first magnetic pole section corresponding thereto, the remaining second magnetic pole sections oppose corresponding first magnetic pole sections, respectively.

4. The force-sense-imparting operation device according to claim 3 , further comprising
a rotation angle restricting section which restricts a rotation angle of the rotating section within a prescribed angle range, wherein
the prescribed angle range is such an angle range that a magnetic attraction force which the second magnetic pole section receives from the first magnetic pole section adjacent to the first magnetic pole section corresponding to the second magnetic pole section is smaller than a magnetic attraction force which the second magnetic pole section receives from the corresponding first magnetic pole section.

5. The force-sense-imparting operation device according to claim 1 , wherein
the specific opposing direction is a radial direction of a circle along a rotational direction of the rotating section.

6. The force-sense-imparting operation device according to claim 5 , wherein
the rotating section encircles the stationary section in the rotational direction at an outer side of the stationary section in the radial direction, and
the operation member is attached to an outer peripheral surface of the rotating section.

7. The force-sense-imparting operation device according to claim 1 , wherein
the specific opposing direction is a direction of a rotational axis of the rotating section,
the first magnetic pole section and the second magnetic pole section are provided so as to be relatively displaceable from each other in the direction of the rotational axis, and
the force-sense-imparting operation device further comprises a clearance maintaining mechanism which maintains a constant clearance between the first magnetic pole section and the second magnetic pole section in the direction of the rotational axis.

8. The force-sense-imparting operation device according to claim 7 , wherein
the clearance maintaining mechanism includes: a nonmagnetic layer interposed between the first magnetic pole section and the second magnetic pole section in the direction of the rotational axis; and a biasing member which is elastically deformable in the direction of the rotational axis and which biases one of the first magnetic pole section and the second magnetic pole section toward the other magnetic pole section so that a state where the nonmagnetic layer is sandwiched by the first magnetic pole section and the second magnetic pole section is maintained.

9. The force-sense-imparting operation device according to claim 8 , wherein
the nonmagnetic layer has a lower coefficient of friction than coefficients of friction of the first magnetic pole section and the second magnetic pole section.

10. The force-sense-imparting operation device according to claim 1 , comprising:
a rotation angle detecting section which detects a rotation angle of the rotating section; and
a control section which adjusts an excitation current to be supplied to the excitation coil based on a result of detection by the rotation angle detecting section.

11. The force-sense-imparting operation device according to claim 10 , wherein
the rotation angle detecting section is attached to the rotating section.

12. The force-sense-imparting operation device according to claim 10 , further comprising
a load detecting section which detects a load on an operated section of a working machine which is operated by the force-sense-imparting operation device, wherein
the control section is operative to adjust an excitation current to be supplied to the excitation coil based on a result of detection by the load detecting section.

Assignees

• Kobe Steel Ltd
• Kobelco Cranes Co Ltd

Inventors

• Inoue Koji
• Hiekata Takashi
• Asano Tatsurou

Classifications

• G05G5/03 Primary

  Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce (arrangements for indicating the position of the controlling member G05G1/015) · CPC title

• G05G1/04

  Controlling members for hand actuation by pivoting movement, e.g. levers · CPC title